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<div class="header">
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<a href="#pub-methods">Public 成员函数</a> &#124;
<a href="#pri-methods">Private 成员函数</a> &#124;
<a href="#pri-attribs">Private 属性</a> &#124;
<a href="classpcl_1_1_registration_visualizer-members.html">所有成员列表</a>  </div>
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<div class="title">pcl::RegistrationVisualizer&lt; PointSource, PointTarget &gt; 模板类 参考</div>  </div>
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<p><b><a class="el" href="classpcl_1_1_registration_visualizer.html" title="RegistrationVisualizer represents the base class for rendering the intermediate positions occupied by...">RegistrationVisualizer</a></b> represents the base class for rendering the intermediate positions occupied by the source point cloud during it's registration to the target point cloud. A registration algorithm is considered as input and it's convergence is rendered.  
 <a href="classpcl_1_1_registration_visualizer.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="registration__visualizer_8h_source.html">registration_visualizer.h</a>&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public 成员函数</h2></td></tr>
<tr class="memitem:ae7d963b9d97c75df7223bcc5fe7ea4dc"><td class="memItemLeft" align="right" valign="top"><a id="ae7d963b9d97c75df7223bcc5fe7ea4dc"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_registration_visualizer.html#ae7d963b9d97c75df7223bcc5fe7ea4dc">RegistrationVisualizer</a> ()</td></tr>
<tr class="memdesc:ae7d963b9d97c75df7223bcc5fe7ea4dc"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty constructor. <br /></td></tr>
<tr class="separator:ae7d963b9d97c75df7223bcc5fe7ea4dc"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8aa479028e64ad6aa570e8ae5443295f"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_registration_visualizer.html#a8aa479028e64ad6aa570e8ae5443295f">setRegistration</a> (<a class="el" href="classpcl_1_1_registration.html">pcl::Registration</a>&lt; PointSource, PointTarget &gt; &amp;registration)</td></tr>
<tr class="memdesc:a8aa479028e64ad6aa570e8ae5443295f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the registration algorithm whose intermediate steps will be rendered. The method creates the local callback function <a class="el" href="classpcl_1_1_registration_visualizer.html#a2cc20367a4799f4f7da8040e128a871b" title="Callback function linked to pcl::Registration::update_visualizer_">pcl::RegistrationVisualizer::update_visualizer_</a> and binds it to the local buffers update function <a class="el" href="classpcl_1_1_registration_visualizer.html#a486ef1ce9bd49da0224140b8b2f191eb" title="Updates visualizer local buffers cloud_intermediate, cloud_intermediate_indices, cloud_target_indices...">pcl::RegistrationVisualizer::updateIntermediateCloud()</a>. The local callback function <a class="el" href="classpcl_1_1_registration_visualizer.html#a2cc20367a4799f4f7da8040e128a871b" title="Callback function linked to pcl::Registration::update_visualizer_">pcl::RegistrationVisualizer::update_visualizer_</a> is then linked to the <a class="el" href="classpcl_1_1_registration.html#a010905bbc1bc67175d3ecf3b2ea6401a" title="Callback function to update intermediate source point cloud position during it&#39;s registration to the ...">pcl::Registration::update_visualizer_</a> callback function.  <a href="classpcl_1_1_registration_visualizer.html#a8aa479028e64ad6aa570e8ae5443295f">更多...</a><br /></td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_registration_visualizer.html#ab787362b64bcea7f9687da4aca902e7a">startDisplay</a> ()</td></tr>
<tr class="memdesc:ab787362b64bcea7f9687da4aca902e7a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Start the viewer thread <br /></td></tr>
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<tr class="memitem:abed5c1b7abac1c036b6058d0138ccaa5"><td class="memItemLeft" align="right" valign="top"><a id="abed5c1b7abac1c036b6058d0138ccaa5"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_registration_visualizer.html#abed5c1b7abac1c036b6058d0138ccaa5">stopDisplay</a> ()</td></tr>
<tr class="memdesc:abed5c1b7abac1c036b6058d0138ccaa5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Stop the viewer thread <br /></td></tr>
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<tr class="memitem:a486ef1ce9bd49da0224140b8b2f191eb"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_registration_visualizer.html#a486ef1ce9bd49da0224140b8b2f191eb">updateIntermediateCloud</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;cloud_src, const std::vector&lt; int &gt; &amp;indices_src, const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;cloud_tgt, const std::vector&lt; int &gt; &amp;indices_tgt)</td></tr>
<tr class="memdesc:a486ef1ce9bd49da0224140b8b2f191eb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Updates visualizer local buffers cloud_intermediate, cloud_intermediate_indices, cloud_target_indices with the newest registration intermediate results.  <a href="classpcl_1_1_registration_visualizer.html#a486ef1ce9bd49da0224140b8b2f191eb">更多...</a><br /></td></tr>
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<tr class="memitem:a897f50b0c290445cdb8847bb2e4c38a4"><td class="memItemLeft" align="right" valign="top"><a id="a897f50b0c290445cdb8847bb2e4c38a4"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_registration_visualizer.html#a897f50b0c290445cdb8847bb2e4c38a4">setMaximumDisplayedCorrespondences</a> (const int maximum_displayed_correspondences)</td></tr>
<tr class="memdesc:a897f50b0c290445cdb8847bb2e4c38a4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set maximum number of correspondence lines which will be rendered. <br /></td></tr>
<tr class="separator:a897f50b0c290445cdb8847bb2e4c38a4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad47af518fc0c1d68d1578e67a129d2e2"><td class="memItemLeft" align="right" valign="top"><a id="ad47af518fc0c1d68d1578e67a129d2e2"></a>
size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_registration_visualizer.html#ad47af518fc0c1d68d1578e67a129d2e2">getMaximumDisplayedCorrespondences</a> ()</td></tr>
<tr class="memdesc:ad47af518fc0c1d68d1578e67a129d2e2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Return maximum number of correspondence lines which are rendered. <br /></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pri-methods"></a>
Private 成员函数</h2></td></tr>
<tr class="memitem:a6ef7150b35bba0292b412f451aebefca"><td class="memItemLeft" align="right" valign="top"><a id="a6ef7150b35bba0292b412f451aebefca"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_registration_visualizer.html#a6ef7150b35bba0292b412f451aebefca">runDisplay</a> ()</td></tr>
<tr class="memdesc:a6ef7150b35bba0292b412f451aebefca"><td class="mdescLeft">&#160;</td><td class="mdescRight">Initialize and run the visualization loop. This function will run in the internal thread viewer_thread_ <br /></td></tr>
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<tr class="memitem:a3b9aab728e00bf441cd7317362979c03"><td class="memItemLeft" align="right" valign="top"><a id="a3b9aab728e00bf441cd7317362979c03"></a>
std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_registration_visualizer.html#a3b9aab728e00bf441cd7317362979c03">getIndexedName</a> (std::string &amp;root_name, size_t &amp;id)</td></tr>
<tr class="memdesc:a3b9aab728e00bf441cd7317362979c03"><td class="mdescLeft">&#160;</td><td class="mdescRight">Return the string obtained by concatenating a root_name and an id <br /></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pri-attribs"></a>
Private 属性</h2></td></tr>
<tr class="memitem:a651f0c0ee86d59a951ec5edbed62d253"><td class="memItemLeft" align="right" valign="top"><a id="a651f0c0ee86d59a951ec5edbed62d253"></a>
boost::shared_ptr&lt; <a class="el" href="classpcl_1_1visualization_1_1_p_c_l_visualizer.html">pcl::visualization::PCLVisualizer</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_registration_visualizer.html#a651f0c0ee86d59a951ec5edbed62d253">viewer_</a></td></tr>
<tr class="memdesc:a651f0c0ee86d59a951ec5edbed62d253"><td class="mdescLeft">&#160;</td><td class="mdescRight">The registration viewer. <br /></td></tr>
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<tr class="memitem:ae452a8e8560a4f773a8ce271ca5b425b"><td class="memItemLeft" align="right" valign="top"><a id="ae452a8e8560a4f773a8ce271ca5b425b"></a>
boost::thread&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_registration_visualizer.html#ae452a8e8560a4f773a8ce271ca5b425b">viewer_thread_</a></td></tr>
<tr class="memdesc:ae452a8e8560a4f773a8ce271ca5b425b"><td class="mdescLeft">&#160;</td><td class="mdescRight">The thread running the <a class="el" href="classpcl_1_1_registration_visualizer.html#a6ef7150b35bba0292b412f451aebefca" title="Initialize and run the visualization loop. This function will run in the internal thread viewer_threa...">runDisplay()</a> function. <br /></td></tr>
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<tr class="memitem:acd6b000dce0d3b942492e42b4681c57a"><td class="memItemLeft" align="right" valign="top"><a id="acd6b000dce0d3b942492e42b4681c57a"></a>
std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_registration_visualizer.html#acd6b000dce0d3b942492e42b4681c57a">registration_method_name_</a></td></tr>
<tr class="memdesc:acd6b000dce0d3b942492e42b4681c57a"><td class="mdescLeft">&#160;</td><td class="mdescRight">The name of the registration method whose intermediate results are rendered. <br /></td></tr>
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boost::function&lt; void(const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;cloud_src, const std::vector&lt; int &gt; &amp;indices_src, const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;cloud_tgt, const std::vector&lt; int &gt; &amp;indices_tgt)&gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_registration_visualizer.html#a2cc20367a4799f4f7da8040e128a871b">update_visualizer_</a></td></tr>
<tr class="memdesc:a2cc20367a4799f4f7da8040e128a871b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Callback function linked to <a class="el" href="classpcl_1_1_registration.html#a010905bbc1bc67175d3ecf3b2ea6401a" title="Callback function to update intermediate source point cloud position during it&#39;s registration to the ...">pcl::Registration::update_visualizer_</a> <br /></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_registration_visualizer.html#a2c10000ef0dae25bc43460c86637717c">first_update_flag_</a></td></tr>
<tr class="memdesc:a2c10000ef0dae25bc43460c86637717c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Updates source and target point clouds only for the first update call. <br /></td></tr>
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<tr class="memitem:aa8c0e2987f64434b33a7c222994f155d"><td class="memItemLeft" align="right" valign="top"><a id="aa8c0e2987f64434b33a7c222994f155d"></a>
<a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_registration_visualizer.html#aa8c0e2987f64434b33a7c222994f155d">cloud_source_</a></td></tr>
<tr class="memdesc:aa8c0e2987f64434b33a7c222994f155d"><td class="mdescLeft">&#160;</td><td class="mdescRight">The local buffer for source point cloud. <br /></td></tr>
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<tr class="memitem:ae88fd9ad9e87b3cf7ac4c32c6d9e8df3"><td class="memItemLeft" align="right" valign="top"><a id="ae88fd9ad9e87b3cf7ac4c32c6d9e8df3"></a>
<a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_registration_visualizer.html#ae88fd9ad9e87b3cf7ac4c32c6d9e8df3">cloud_target_</a></td></tr>
<tr class="memdesc:ae88fd9ad9e87b3cf7ac4c32c6d9e8df3"><td class="mdescLeft">&#160;</td><td class="mdescRight">The local buffer for target point cloud. <br /></td></tr>
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boost::mutex&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_registration_visualizer.html#a5b6b50586dd667578995f538835e7de3">visualizer_updating_mutex_</a></td></tr>
<tr class="memdesc:a5b6b50586dd667578995f538835e7de3"><td class="mdescLeft">&#160;</td><td class="mdescRight">The mutex used for the synchronization of updating and rendering of the local buffers. <br /></td></tr>
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<tr class="memitem:afe4ca43d8affb2331d73bd1a4beab034"><td class="memItemLeft" align="right" valign="top"><a id="afe4ca43d8affb2331d73bd1a4beab034"></a>
<a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_registration_visualizer.html#afe4ca43d8affb2331d73bd1a4beab034">cloud_intermediate_</a></td></tr>
<tr class="memdesc:afe4ca43d8affb2331d73bd1a4beab034"><td class="mdescLeft">&#160;</td><td class="mdescRight">The local buffer for intermediate point cloud obtained during registration process. <br /></td></tr>
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<tr class="memitem:a489be64b6b8b6ee81a8f8a012fdc7601"><td class="memItemLeft" align="right" valign="top"><a id="a489be64b6b8b6ee81a8f8a012fdc7601"></a>
std::vector&lt; int &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_registration_visualizer.html#a489be64b6b8b6ee81a8f8a012fdc7601">cloud_intermediate_indices_</a></td></tr>
<tr class="memdesc:a489be64b6b8b6ee81a8f8a012fdc7601"><td class="mdescLeft">&#160;</td><td class="mdescRight">The indices of intermediate points used for computation of rigid transformation. <br /></td></tr>
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std::vector&lt; int &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_registration_visualizer.html#aa4d88ff2498fd030ebf5cb093ac3c6f9">cloud_target_indices_</a></td></tr>
<tr class="memdesc:aa4d88ff2498fd030ebf5cb093ac3c6f9"><td class="mdescLeft">&#160;</td><td class="mdescRight">The indices of target points used for computation of rigid transformation. <br /></td></tr>
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<tr class="memitem:ace7e1578161638326c3732ac4c8b96b6"><td class="memItemLeft" align="right" valign="top"><a id="ace7e1578161638326c3732ac4c8b96b6"></a>
size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_registration_visualizer.html#ace7e1578161638326c3732ac4c8b96b6">maximum_displayed_correspondences_</a></td></tr>
<tr class="memdesc:ace7e1578161638326c3732ac4c8b96b6"><td class="mdescLeft">&#160;</td><td class="mdescRight">The maximum number of displayed correspondences. <br /></td></tr>
<tr class="separator:ace7e1578161638326c3732ac4c8b96b6"><td class="memSeparator" colspan="2">&#160;</td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><h3>template&lt;typename PointSource, typename PointTarget&gt;<br />
class pcl::RegistrationVisualizer&lt; PointSource, PointTarget &gt;</h3>

<p><b><a class="el" href="classpcl_1_1_registration_visualizer.html" title="RegistrationVisualizer represents the base class for rendering the intermediate positions occupied by...">RegistrationVisualizer</a></b> represents the base class for rendering the intermediate positions occupied by the source point cloud during it's registration to the target point cloud. A registration algorithm is considered as input and it's convergence is rendered. </p>
<dl class="section author"><dt>作者</dt><dd>Gheorghe Lisca </dd></dl>
</div><h2 class="groupheader">成员函数说明</h2>
<a id="a8aa479028e64ad6aa570e8ae5443295f"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a8aa479028e64ad6aa570e8ae5443295f">&#9670;&nbsp;</a></span>setRegistration()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointSource , typename PointTarget &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">bool <a class="el" href="classpcl_1_1_registration_visualizer.html">pcl::RegistrationVisualizer</a>&lt; PointSource, PointTarget &gt;::setRegistration </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classpcl_1_1_registration.html">pcl::Registration</a>&lt; PointSource, PointTarget &gt; &amp;&#160;</td>
          <td class="paramname"><em>registration</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
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<p>Set the registration algorithm whose intermediate steps will be rendered. The method creates the local callback function <a class="el" href="classpcl_1_1_registration_visualizer.html#a2cc20367a4799f4f7da8040e128a871b" title="Callback function linked to pcl::Registration::update_visualizer_">pcl::RegistrationVisualizer::update_visualizer_</a> and binds it to the local buffers update function <a class="el" href="classpcl_1_1_registration_visualizer.html#a486ef1ce9bd49da0224140b8b2f191eb" title="Updates visualizer local buffers cloud_intermediate, cloud_intermediate_indices, cloud_target_indices...">pcl::RegistrationVisualizer::updateIntermediateCloud()</a>. The local callback function <a class="el" href="classpcl_1_1_registration_visualizer.html#a2cc20367a4799f4f7da8040e128a871b" title="Callback function linked to pcl::Registration::update_visualizer_">pcl::RegistrationVisualizer::update_visualizer_</a> is then linked to the <a class="el" href="classpcl_1_1_registration.html#a010905bbc1bc67175d3ecf3b2ea6401a" title="Callback function to update intermediate source point cloud position during it&#39;s registration to the ...">pcl::Registration::update_visualizer_</a> callback function. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">registration</td><td>represents the registration method whose intermediate steps will be rendered. </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      {</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;        <span class="comment">// Update the name of the registration method to be displayed</span></div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;        <a class="code" href="classpcl_1_1_registration_visualizer.html#acd6b000dce0d3b942492e42b4681c57a">registration_method_name_</a> = registration.<a class="code" href="classpcl_1_1_registration.html#a26eae6a42450893ca1c2ed81560159f2">getClassName</a>();</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160; </div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;        <span class="comment">// Create the local callback function and bind it to the local function responsible for updating</span></div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;        <span class="comment">// the local buffers</span></div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;        <a class="code" href="classpcl_1_1_registration_visualizer.html#a2cc20367a4799f4f7da8040e128a871b">update_visualizer_</a> = boost::bind (&amp;<a class="code" href="classpcl_1_1_registration_visualizer.html#a486ef1ce9bd49da0224140b8b2f191eb">RegistrationVisualizer&lt;PointSource, PointTarget&gt;::updateIntermediateCloud</a>,</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;                                          <span class="keyword">this</span>, _1, _2, _3, _4);</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160; </div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;        <span class="comment">// Register the local callback function to the registration algorithm callback function</span></div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;        registration.<a class="code" href="classpcl_1_1_registration.html#ac13dcb392c660cf311a689041ec63a5c">registerVisualizationCallback</a> (this-&gt;<a class="code" href="classpcl_1_1_registration_visualizer.html#a2cc20367a4799f4f7da8040e128a871b">update_visualizer_</a>);</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160; </div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;        <span class="comment">// Flag that no visualizer update was done. It indicates to visualizer update function to copy</span></div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;        <span class="comment">// the registration input source and the target point clouds in the next call.</span></div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;        <a class="code" href="classpcl_1_1_registration_visualizer.html#a5b6b50586dd667578995f538835e7de3">visualizer_updating_mutex_</a>.lock ();</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160; </div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;        <a class="code" href="classpcl_1_1_registration_visualizer.html#a2c10000ef0dae25bc43460c86637717c">first_update_flag_</a> = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160; </div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;        <a class="code" href="classpcl_1_1_registration_visualizer.html#a5b6b50586dd667578995f538835e7de3">visualizer_updating_mutex_</a>.unlock ();</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160; </div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;        <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;      }</div>
<div class="ttc" id="aclasspcl_1_1_registration_html_a26eae6a42450893ca1c2ed81560159f2"><div class="ttname"><a href="classpcl_1_1_registration.html#a26eae6a42450893ca1c2ed81560159f2">pcl::Registration::getClassName</a></div><div class="ttdeci">const std::string &amp; getClassName() const</div><div class="ttdoc">Abstract class get name method.</div><div class="ttdef"><b>Definition:</b> registration.h:422</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_ac13dcb392c660cf311a689041ec63a5c"><div class="ttname"><a href="classpcl_1_1_registration.html#ac13dcb392c660cf311a689041ec63a5c">pcl::Registration::registerVisualizationCallback</a></div><div class="ttdeci">bool registerVisualizationCallback(boost::function&lt; FunctionSignature &gt; &amp;visualizerCallback)</div><div class="ttdoc">Register the user callback function which will be called from registration thread in order to update ...</div><div class="ttdef"><b>Definition:</b> registration.h:375</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_visualizer_html_a2c10000ef0dae25bc43460c86637717c"><div class="ttname"><a href="classpcl_1_1_registration_visualizer.html#a2c10000ef0dae25bc43460c86637717c">pcl::RegistrationVisualizer::first_update_flag_</a></div><div class="ttdeci">bool first_update_flag_</div><div class="ttdoc">Updates source and target point clouds only for the first update call.</div><div class="ttdef"><b>Definition:</b> registration_visualizer.h:182</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_visualizer_html_a2cc20367a4799f4f7da8040e128a871b"><div class="ttname"><a href="classpcl_1_1_registration_visualizer.html#a2cc20367a4799f4f7da8040e128a871b">pcl::RegistrationVisualizer::update_visualizer_</a></div><div class="ttdeci">boost::function&lt; void(const pcl::PointCloud&lt; PointSource &gt; &amp;cloud_src, const std::vector&lt; int &gt; &amp;indices_src, const pcl::PointCloud&lt; PointTarget &gt; &amp;cloud_tgt, const std::vector&lt; int &gt; &amp;indices_tgt)&gt; update_visualizer_</div><div class="ttdoc">Callback function linked to pcl::Registration::update_visualizer_</div><div class="ttdef"><b>Definition:</b> registration_visualizer.h:179</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_visualizer_html_a486ef1ce9bd49da0224140b8b2f191eb"><div class="ttname"><a href="classpcl_1_1_registration_visualizer.html#a486ef1ce9bd49da0224140b8b2f191eb">pcl::RegistrationVisualizer::updateIntermediateCloud</a></div><div class="ttdeci">void updateIntermediateCloud(const pcl::PointCloud&lt; PointSource &gt; &amp;cloud_src, const std::vector&lt; int &gt; &amp;indices_src, const pcl::PointCloud&lt; PointTarget &gt; &amp;cloud_tgt, const std::vector&lt; int &gt; &amp;indices_tgt)</div><div class="ttdoc">Updates visualizer local buffers cloud_intermediate, cloud_intermediate_indices, cloud_target_indices...</div><div class="ttdef"><b>Definition:</b> registration_visualizer.hpp:182</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_visualizer_html_a5b6b50586dd667578995f538835e7de3"><div class="ttname"><a href="classpcl_1_1_registration_visualizer.html#a5b6b50586dd667578995f538835e7de3">pcl::RegistrationVisualizer::visualizer_updating_mutex_</a></div><div class="ttdeci">boost::mutex visualizer_updating_mutex_</div><div class="ttdoc">The mutex used for the synchronization of updating and rendering of the local buffers.</div><div class="ttdef"><b>Definition:</b> registration_visualizer.h:191</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_visualizer_html_acd6b000dce0d3b942492e42b4681c57a"><div class="ttname"><a href="classpcl_1_1_registration_visualizer.html#acd6b000dce0d3b942492e42b4681c57a">pcl::RegistrationVisualizer::registration_method_name_</a></div><div class="ttdeci">std::string registration_method_name_</div><div class="ttdoc">The name of the registration method whose intermediate results are rendered.</div><div class="ttdef"><b>Definition:</b> registration_visualizer.h:174</div></div>
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<a id="a486ef1ce9bd49da0224140b8b2f191eb"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a486ef1ce9bd49da0224140b8b2f191eb">&#9670;&nbsp;</a></span>updateIntermediateCloud()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointSource , typename PointTarget &gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_registration_visualizer.html">pcl::RegistrationVisualizer</a>&lt; PointSource, PointTarget &gt;::updateIntermediateCloud </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;&#160;</td>
          <td class="paramname"><em>cloud_src</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const std::vector&lt; int &gt; &amp;&#160;</td>
          <td class="paramname"><em>indices_src</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;&#160;</td>
          <td class="paramname"><em>cloud_tgt</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const std::vector&lt; int &gt; &amp;&#160;</td>
          <td class="paramname"><em>indices_tgt</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Updates visualizer local buffers cloud_intermediate, cloud_intermediate_indices, cloud_target_indices with the newest registration intermediate results. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">cloud_src</td><td>represents the initial source point cloud </td></tr>
    <tr><td class="paramname">indices_src</td><td>represents the indices of the intermediate source points used for the estimation of rigid transformation </td></tr>
    <tr><td class="paramname">cloud_tgt</td><td>represents the target point cloud </td></tr>
    <tr><td class="paramname">indices_tgt</td><td>represents the indices of the target points used for the estimation of rigid transformation </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;{</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;  <span class="comment">// Lock local buffers</span></div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;  <a class="code" href="classpcl_1_1_registration_visualizer.html#a5b6b50586dd667578995f538835e7de3">visualizer_updating_mutex_</a>.lock ();</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160; </div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;  <span class="comment">// Update source and target point clouds if this is the first callback</span></div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;  <span class="comment">// Here we are sure that source and target point clouds are initialized</span></div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;  <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1_registration_visualizer.html#a2c10000ef0dae25bc43460c86637717c">first_update_flag_</a>)</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;  {</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;    <a class="code" href="classpcl_1_1_registration_visualizer.html#a2c10000ef0dae25bc43460c86637717c">first_update_flag_</a> = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160; </div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;    this-&gt;<a class="code" href="classpcl_1_1_registration_visualizer.html#aa8c0e2987f64434b33a7c222994f155d">cloud_source_</a> = cloud_src;</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;    this-&gt;<a class="code" href="classpcl_1_1_registration_visualizer.html#ae88fd9ad9e87b3cf7ac4c32c6d9e8df3">cloud_target_</a> = cloud_tgt;</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160; </div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;    this-&gt;<a class="code" href="classpcl_1_1_registration_visualizer.html#afe4ca43d8affb2331d73bd1a4beab034">cloud_intermediate_</a> = cloud_src;</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;  }</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160; </div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;  <span class="comment">// Copy the intermediate point cloud and it&#39;s associates indices</span></div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;  <a class="code" href="classpcl_1_1_registration_visualizer.html#afe4ca43d8affb2331d73bd1a4beab034">cloud_intermediate_</a> = cloud_src;</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;  <a class="code" href="classpcl_1_1_registration_visualizer.html#a489be64b6b8b6ee81a8f8a012fdc7601">cloud_intermediate_indices_</a> = indices_src;</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160; </div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;  <span class="comment">// Copy the intermediate indices associate to the target point cloud</span></div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;  <a class="code" href="classpcl_1_1_registration_visualizer.html#aa4d88ff2498fd030ebf5cb093ac3c6f9">cloud_target_indices_</a> = indices_tgt;</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160; </div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;  <span class="comment">// Unlock local buffers</span></div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;  <a class="code" href="classpcl_1_1_registration_visualizer.html#a5b6b50586dd667578995f538835e7de3">visualizer_updating_mutex_</a>.unlock ();</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_registration_visualizer_html_a489be64b6b8b6ee81a8f8a012fdc7601"><div class="ttname"><a href="classpcl_1_1_registration_visualizer.html#a489be64b6b8b6ee81a8f8a012fdc7601">pcl::RegistrationVisualizer::cloud_intermediate_indices_</a></div><div class="ttdeci">std::vector&lt; int &gt; cloud_intermediate_indices_</div><div class="ttdoc">The indices of intermediate points used for computation of rigid transformation.</div><div class="ttdef"><b>Definition:</b> registration_visualizer.h:197</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_visualizer_html_aa4d88ff2498fd030ebf5cb093ac3c6f9"><div class="ttname"><a href="classpcl_1_1_registration_visualizer.html#aa4d88ff2498fd030ebf5cb093ac3c6f9">pcl::RegistrationVisualizer::cloud_target_indices_</a></div><div class="ttdeci">std::vector&lt; int &gt; cloud_target_indices_</div><div class="ttdoc">The indices of target points used for computation of rigid transformation.</div><div class="ttdef"><b>Definition:</b> registration_visualizer.h:200</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_visualizer_html_aa8c0e2987f64434b33a7c222994f155d"><div class="ttname"><a href="classpcl_1_1_registration_visualizer.html#aa8c0e2987f64434b33a7c222994f155d">pcl::RegistrationVisualizer::cloud_source_</a></div><div class="ttdeci">pcl::PointCloud&lt; PointSource &gt; cloud_source_</div><div class="ttdoc">The local buffer for source point cloud.</div><div class="ttdef"><b>Definition:</b> registration_visualizer.h:185</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_visualizer_html_ae88fd9ad9e87b3cf7ac4c32c6d9e8df3"><div class="ttname"><a href="classpcl_1_1_registration_visualizer.html#ae88fd9ad9e87b3cf7ac4c32c6d9e8df3">pcl::RegistrationVisualizer::cloud_target_</a></div><div class="ttdeci">pcl::PointCloud&lt; PointTarget &gt; cloud_target_</div><div class="ttdoc">The local buffer for target point cloud.</div><div class="ttdef"><b>Definition:</b> registration_visualizer.h:188</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_visualizer_html_afe4ca43d8affb2331d73bd1a4beab034"><div class="ttname"><a href="classpcl_1_1_registration_visualizer.html#afe4ca43d8affb2331d73bd1a4beab034">pcl::RegistrationVisualizer::cloud_intermediate_</a></div><div class="ttdeci">pcl::PointCloud&lt; PointSource &gt; cloud_intermediate_</div><div class="ttdoc">The local buffer for intermediate point cloud obtained during registration process.</div><div class="ttdef"><b>Definition:</b> registration_visualizer.h:194</div></div>
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<hr/>该类的文档由以下文件生成:<ul>
<li>visualization/include/pcl/visualization/<a class="el" href="registration__visualizer_8h_source.html">registration_visualizer.h</a></li>
<li>visualization/include/pcl/visualization/impl/<a class="el" href="registration__visualizer_8hpp_source.html">registration_visualizer.hpp</a></li>
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